/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under Ultimate Liberty license
 * SLA0044, the "License"; You may not use this file except in compliance with
 * the License. You may obtain a copy of the License at:
 *                             www.st.com/SLA0044
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
#include "motor_mask.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId motor_taskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const *argument);
void motor_retome_task(void const *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
	*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
	*ppxIdleTaskStackBuffer = &xIdleStack[0];
	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
	/* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
 * @brief  FreeRTOS initialization
 * @param  None
 * @retval None
 */
void MX_FREERTOS_Init(void)
{
	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* USER CODE BEGIN RTOS_MUTEX */
	/* add mutexes, ... */
	/* USER CODE END RTOS_MUTEX */

	/* USER CODE BEGIN RTOS_SEMAPHORES */
	/* add semaphores, ... */
	/* USER CODE END RTOS_SEMAPHORES */

	/* USER CODE BEGIN RTOS_TIMERS */
	/* start timers, add new ones, ... */
	/* USER CODE END RTOS_TIMERS */

	/* USER CODE BEGIN RTOS_QUEUES */
	/* add queues, ... */
	/* USER CODE END RTOS_QUEUES */

	/* Create the thread(s) */
	/* definition and creation of defaultTask */
	osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
	defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

	/* definition and creation of motor_task */
	osThreadDef(motor_task, motor_retome_task, osPriorityNormal, 0, 256);
	motor_taskHandle = osThreadCreate(osThread(motor_task), NULL);

	/* USER CODE BEGIN RTOS_THREADS */
	/* add threads, ... */
	/* USER CODE END RTOS_THREADS */
}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
 * @brief  Function implementing the defaultTask thread.
 * @param  argument: Not used
 * @retval None
 */
extern uint16_t targets;
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const *argument)
{
	/* USER CODE BEGIN StartDefaultTask */
	/* Infinite loop */
	for (;;)
	{
		motor_constant();
		osDelay(1);
	}
	/* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_motor_retome_task */
/**
 * @brief Function implementing the motor_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_motor_retome_task */

void motor_retome_task(void const *argument)
{

	while (1)
	{

		motor_retome();
		osDelay(1);
	}
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
// void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
//{
//	BaseType_t MotorRequirred;
//	if(GPIO_Pin==GPIO_PIN_0)
//	{
//		MotorRequirred=xTaskResumeFromISR(defaultTaskHandle);
//		if(MotorRequirred==pdTRUE)
//		{
//			portYIELD_FROM_ISR(MotorRequirred);
//		}
//	}
//
// }
/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
